diff --git a/docs/software_design.md b/docs/software_design.md
index 1879d4f..797eb8e 100644
--- a/docs/software_design.md
+++ b/docs/software_design.md
@@ -10,46 +10,34 @@ The diagrams are generated using [ros2_graph](https://github.com/kiwicampus/ros2
 ```mermaid
 flowchart LR
 
-/turtlesim:::main
-/teleop_turtle:::node
-/turtle1cmd_vel([/turtle1cmd_vel<br>geometry_msgs/msg/Twist]):::topic
-/turtle1color_sensor([/turtle1color_sensor<br>turtlesim/msg/Color]):::bugged
-/turtle1pose([/turtle1pose<br>turtlesim/msg/Pose]):::bugged
-/clear[//clear<br>std_srvs/srv/Empty\]:::bugged
-/kill[//kill<br>turtlesim/srv/Kill\]:::bugged
-/reset[//reset<br>std_srvs/srv/Empty\]:::bugged
-/spawn[//spawn<br>turtlesim/srv/Spawn\]:::bugged
-/turtle1set_pen[//turtle1set_pen<br>turtlesim/srv/SetPen\]:::bugged
-/turtle1teleport_absolute[//turtle1teleport_absolute<br>turtlesim/srv/TeleportAbsolute\]:::bugged
-/turtle1teleport_relative[//turtle1teleport_relative<br>turtlesim/srv/TeleportRelative\]:::bugged
-/turtle1/rotate_absolute{{/turtle1/rotate_absolute<br>turtlesim/action/RotateAbsolute}}:::action
-/clear o-.-o /turtlesim
-/kill o-.-o /turtlesim
-/reset o-.-o /turtlesim
-/spawn o-.-o /turtlesim
-/turtle1set_pen o-.-o /turtlesim
-/turtle1teleport_absolute o-.-o /turtlesim
-/turtle1teleport_relative o-.-o /turtlesim
-/teleop_turtle <==> /turtle1/rotate_absolute
-/turtle1/rotate_absolute o==o /turtlesim
-/turtle1cmd_vel --> /turtlesim
-/turtlesim --> /turtle1color_sensor
-/turtlesim --> /turtle1pose
-/teleop_turtle --> /turtle1cmd_vel
+/data_collection_node[ /data_collection_node ]:::main
+/converter_node[ /converter_node ]:::node
+/trunk_rigid_bodies([ /trunk_rigid_bodies<br>interfaces/msg/TrunkRigidBodies ]):::topic
+/all_motors_control([ /all_motors_control<br>interfaces/msg/AllMotorsControl ]):::topic
+
+
+/trunk_rigid_bodies --> /data_collection_node
+/all_motors_control --> /converter_node
+/data_collection_node --> /all_motors_control
+/converter_node --> /trunk_rigid_bodies
+
+
+
+
 subgraph keys[<b>Keys<b/>]
 subgraph nodes[<b><b/>]
 topicb((No connected)):::bugged
-main_node:::main_node
+main_node[main]:::main
 end
 subgraph connection[<b><b/>]
-node1:::node
-node2:::node
-node1 o-. to server .-o service[/Service<br>service/Type\]:::service
-service <-. to client .-> node2
-node1 -- publish --> topic([Topic<br>topic/Type]):::topic
-topic -- subscribe --> node2
-node1 o== to server ==o action{{/Action<br>action/Type/}}:::action
-action <== to client ==> node2
+node1[node1]:::node
+node2[node2]:::node
+node1 o-.-o|to server| service[/Service<br>service/Type\]:::service
+service <-.->|to client| node2
+node1 -->|publish| topic([Topic<br>topic/Type]):::topic
+topic -->|subscribe| node2
+node1 o==o|to server| action{{/Action<br>action/Type/}}:::action
+action <==>|to client| node2
 end
 end
 classDef node opacity:0.9,fill:#2A0,stroke:#391,stroke-width:4px,color:#fff
diff --git a/stack/main/scripts/run_data_collection.sh b/stack/main/scripts/run_data_collection.sh
deleted file mode 100755
index 12a4f44..0000000
--- a/stack/main/scripts/run_data_collection.sh
+++ /dev/null
@@ -1,6 +0,0 @@
-#!/bin/bash
-source install/setup.bash
-
-export TRUNK_DATA=/home/asl/Documents/asl_trunk_ws/data
-
-ros2 run executor data_collection_node
diff --git a/stack/main/src/executor/executor/data_collection_node.py b/stack/main/src/executor/executor/data_collection_node.py
index 9a22ddd..ea5bd1b 100644
--- a/stack/main/src/executor/executor/data_collection_node.py
+++ b/stack/main/src/executor/executor/data_collection_node.py
@@ -51,7 +51,7 @@ def __init__(self):
         self.current_control_id = -1
         self.stored_positions = []
         self.control_inputs = None
-        self.data_dir = os.getenv('TRUNK_DATA', '/home/asl/Documents/asl_trunk_ws/data')
+        self.data_dir = os.getenv('TRUNK_DATA', '/home/trunk/Documents/trunk-stack/stack/main/data')
 
         if self.data_type == 'steady_state':
             control_input_csv_file = os.path.join(self.data_dir, 'trajectories/steady_state/control_inputs_uniform.csv')